Alireza Akbarzadeh

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This paper presents mechanical design process of an industrial and economical SCARA robot, called FUM SCARA, designed by a team of students at the Ferdowsi University of Mashhad, in Iran. SCARA robots are among the most widely used robots in industry due to their inherent rigidity and high accuracy. The design process included, joint design, link design,(More)
Recently, the variety of devices and robots are available for recovering and rehabilitating human disorder patients. In this paper, simple and effective control method utilized for position-impedance control. This method consists of two parts, namely position control in free space and fuzzy impedance control in contact. First, kinematics and dynamics of(More)
Repeatability is one of the most important features of an industrial robot. It is a key feature stated by commercial robot manufacturers. Details of repeatability calculation method for industrial robots is presented by ISO 9283. However, the well-known robot manufactures do not state how they calculate their repeatability. In this paper, the industrial FUM(More)
In this paper the mechanical design process of a special linear-rotary joint for a SCARA robot, called FUM SCARA, is illustrated. FUM SCARA is constructed in the Robotics Lab of Ferdowsi University of Mashhad, in Iran. Main features of this robot are overall ±0.015 mm repeatability in XYZ plane, 8.5 m/s end-effector velocity and 0.5 seconds full pick(More)
The increase in air pollution has motivated the design of many electrical transportation systems. In this paper, a "two wheeled inverted pendulum" personal transporter is considered. This system is inherently unstable and requires precise torque control of the two motor wheels to maintain its balance. To assist the control system, a mechanical controller or(More)
Force and torque sensors' various applicabilities have raised great interest among scientists for decades. The optimal combination of design variables is a difficult task as it is affected by several input parameters. This paper presents an investigation on the effect of thickness, width and length of elastic cross-beams of the six-axis force sensor on the(More)